New steady-hand Eye Robot with micro-force sensing for vitreoretinal surgery
Open accessAbstract
In retinal microsurgery, surgeons are required to perform micron scale maneuvers while safely applying forces to the retinal tissue that are below sensory perception. Real-time characterization and precise manipulation of this delicate tissue has thus far been hindered by human limits on tool control and the lack of a surgically compatible endpoint sensing instrument. Here we present the design of a new generation, cooperatively controlled microsurgery robot with a remote center-of-motion (RCM) mechanism and an integrated custom micro-force sensing surgical hook. Utilizing the forces measured by the end effector, we correct for tool deflections and implement a micro-force guided cooperative control algorithm to actively guide the operator. Preliminary experiments have been carried out to test our new control methods on raw chicken egg inner shell membranes and to capture useful dynamic characteristics associated with delicate tissue manipulations.
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Claims other papers make about this one
Each is checked against this paper’s own text: does it say what the citing paper says it does?
Unintentional tool motion and excessive forces during membrane peeling can cause vision loss or irreversible retinal damage.
“unintentional tool motion and excessive forces can easily give rise to vision loss or irreversible damage to the retina”
From Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery (2012) · cites this paper as [4]
The Introduction (page unavailable) links hand tremor and other sources of imprecise tool motion, along with excessive retinal forces, to surgical complications that may cause vision loss. Methods §III.C (page unavailable) also links excessive or incorrectly applied forces to complications. Our copy does not specifically establish irreversible retinal damage or characterize these outcomes as occurring easily. (LLM, conf=0.86)
Experimental — accuracy not yet measured
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Cites
The Intuitive/sup TM/ telesurgery system: overview and application
Guthart, G. S., & Salisbury, J. K. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2000.844121 · Cited by 920 · see citing works
A Steady-Hand Robotic System for Microsurgical Augmentation
Taylor, R., Jensen, P., Whitcomb, L., Barnes, A., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z., Dejuan, E., & Kavoussi, L. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922067807 · Cited by 528 · see citing works
Self-citationMechanical characterization of collagen fibers and scaffolds for tissue engineering
Gentleman, E., Lay, A. N., Dickerson, D. A., Nauman, E. A., Livesay, G. A., & Dee, K. C. (2003) · Biomaterials · doi:10.1016/s0142-9612(03)00206-0 · Cited by 390 · see citing works
Toward active tremor canceling in handheld microsurgical instruments
Riviere, C. N., Ang, W. T., & Khosla, P. K. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.817506 · Cited by 245 · see citing works
Iordachita, I., Sun, Z., Balicki, M., Kang, J. U., Phee, S. J., Handa, J., Gehlbach, P., & Taylor, R. (2009) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-009-0301-6 · Cited by 181 · see citing works
Self-citationDevelopment and application of a new steady-hand manipulator for retinal surgery
Mitchell, B., Koo, J., Iordachita, I., Kazanzides, P., Kapoor, A., Handa, J., Hager, G., & Taylor, R. (2007) · Proceedings 2007 IEEE International Conference on Robotics and Automation · doi:10.1109/robot.2007.363056 · Cited by 174 · see citing works
Self-citationBerkelman, P. J., Whitcomb, L. L., Taylor, R. H., & Jensen, P. (2003) · IEEE Transactions on Robotics and Automation · doi:10.1109/tra.2003.817526 · Cited by 172 · see citing works
Self-citationSurgical Forces and Tactile Perception During Retinal Microsurgery
Gupta, P. K., Jensen, P. S., & de Juan, E. (1999) · Lecture notes in computer science · doi:10.1007/10704282_132 · Cited by 163 · see citing works
A Steady-Hand Robotic System for Microsurgical Augmentation
Taylor, R. H., Jensen, P. S., Whitcomb, L. L., Barnes, A. C., Kumar, R., Stoianovici, D. S., Gupta, P., Wang, Z., deJuan, E., & Kavoussi, L. R. (1999) · Lecture notes in computer science · doi:10.1007/10704282_112 · Cited by 145 · see citing works
Self-citationA parallel robot to assist vitreoretinal surgery
Nakano, T., Sugita, N., Ueta, T., et al. (2009) · International Journal of Computer Assisted Radiology and Surgery · doi:10.1007/s11548-009-0374-2 · Cited by 101 · see citing works
Kumar, R., Berkelman, P. J., Gupta, P., Barnes, A., Jensen, P. S., Whitcomb, L. L., & Taylor, R. H. (2002) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2000.844120 · Cited by 97 · see citing works
Self-citationWei, W., Goldman, R. E., Simaan, N., Fine, H. F., & Chang, S. (2007) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2007.363996 · Cited by 85 · see citing works
Cooperative Robot Assistant for Retinal Microsurgery
Fleming, I. N., Balicki, M. A., Koo, J., Iordachita, I. I., Mitchell, B., Handa, J. T., Hager, G. D., & Taylor, R. H. (2008) · Lecture notes in computer science · doi:10.1007/978-3-540-85990-1_65 · Cited by 83 · see citing works
Self-citationApplied force during vitreoretinal microsurgery with handheld instruments
Jagtap, A. D., & Riviere, C. N. (2005) · The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society · doi:10.1109/iembs.2004.1403792 · Cited by 79 · see citing works
Sun, Z., Balicki, M. A., Kang, J. U., Handa, J. T., Taylor, R., & Iordachita, I. I. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152836 · Cited by 46 · see citing works
Self-citationBerkelman, P. J., Rothbaum, D. L., Roy, J., Lang, S., Whitcomb, L. L., Hager, G., Jensen, P. S., de Juan, E., Taylor, R. H., & Niparko, J. K. (2001) · Lecture notes in computer science · doi:10.1007/3-540-45468-3_255 · Cited by 18 · see citing works
Self-citationDesign and development of a low-cost flexure-based hand-held mechanism for micromanipulation
Tan, U.-X., Latt, W. T., Shee, C. Y., & Ang, W. T. (2009) · Proceedings - IEEE International Conference on Robotics and Automation/Proceedings · doi:10.1109/robot.2009.5152250 · Cited by 14 · see citing works
Flagged first, then by citations
Research works printed but not linked: 2
- [2]Guthart G Salisbury J.K J The intuitive telesurgery system: overview and application IEEE ICRA 2000 vol. 1 618 621
- [15]Vagvolgyi B DiMaio S Deguet A Kazanzides P Kumar R Hasser C Taylor R The Surgical Assistant Workstation: a software framework for telesurgical robotics research MICCAI Workshop on Systems and Architectures for Computer Assisted Interventions 2008 Sep Midas Journal: http://hdl.handle.net/10380/1466
Cited by
Sorted by citations
First-in-human study of the safety and viability of intraocular robotic surgery
Edwards, T. L., Xue, K., Meenink, H. C. M., Beelen, M. J., Naus, G. J. L., Simunovic, M. P., Latasiewicz, M., Farmery, A. D., de Smet, M. D., & MacLaren, R. E. (2018) · Nature Biomedical Engineering · doi:10.1038/s41551-018-0248-4 · Cited by 231 · see citing works
Autonomy in surgical robots and its meaningful human control
Ficuciello, F., Tamburrini, G., Arezzo, A., Villani, L., & Siciliano, B. (2019) · Paladyn, Journal of Behavioral Robotics · doi:10.1515/pjbr-2019-0002 · Cited by 92 · see citing works
First-in-Human robot-assisted subretinal drug delivery under local anesthesia
Cehajic-Kapetanovic, J., Xue, K., Edwards, T. L., Meenink, T. C., Beelen, M. J., Naus, G. J., de Smet, M. D., & MacLaren, R. E. (2022) · American Journal of Ophthalmology · doi:10.1016/j.ajo.2021.11.011 · Cited by 78 · see citing works
Preliminary evaluation of a micro-force sensing handheld robot for vitreoretinal surgery
Gonenc, B., Balicki, M. A., Handa, J., Gehlbach, P., Riviere, C. N., Taylor, R. H., & Iordachita, I. (2012) · 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems · doi:10.1109/iros.2012.6385715 · Cited by 54 · see citing works
“Tests were done on two types of phantoms, which have previously been reported and used in our laboratory as suitable surrogates for an epiretinal membrane: bandage phantom[29], inner shell membrane of raw chicken eggs[15].”
MethodSelf-citation
- Authors
- Uneri, A., Balicki, M. A., Handa, J., Gehlbach, P., Taylor, R. H., & Iordachita, I.
- Affiliations
- Johns Hopkins University (US)
- Venue
- 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
- Publisher
- IEEE
- Published
- 2010-09
- Volume
- 2010
- Issue
- 26-29
- Pages
- 814-819
- ISSN
- 2155-1774 (ISSN-L)
- PMC
- PMC3065995
- OpenAlex
- W2170514420
- Cited by
- 291
- References
- 17
- Citations by year
- 2026: 10 · 2025: 23 · 2024: 18 · 2023: 18 · 2022: 17 · 2021: 17 · 2020: 21 · 2019: 22 · 2018: 24 · 2017: 12 · 2016: 15 · 2015: 23 · 2014: 25 · 2013: 19 · 2012: 16
- FWCI
- 49.09
- Type
- conference paper
- Language
- en
- Open access
- green
- www.ncbi.nlm.nih.gov
- Locations
- IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (publishedVersion)
- PubMed (publishedVersion)
- Europe PMC (PubMed Central) (acceptedVersion)
- PubMed Central (acceptedVersion)
- Funders
- National Institute of Biomedical Imaging and Bioengineering (R01EB007969)
- Topics
- Physical Sciences › Engineering › Mechanical Engineering › Teleoperation and Haptic Systems
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Health Sciences › Medicine › Radiology, Nuclear Medicine and Imaging › Retinal and Macular Surgery
- Keywords
- vitrectomy, retinal microsurgery, surgical robots, remote center of motion, cooperative control
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
